Omron SYSMAC CJ Operation Manual page 151

All BASIC commands
4-2-74 DRIVE_ALARM
4-2-75 DRIVE_CLEAR
/i
Type Axis command
Syntax DRIVE_ALARM(VR [,alarm_number] )
Description The DRIVE_ALARM function reads the current alarm of the Servo
Driver that is connected to the Trajexia system via MECHATROLINK-II.
Upon successful execution, the command returns -1 and stores the
value in the VR memory location specified by the VR parameter. If the
command cannot be executed, the value 0 is returned. The command is
executed on the driver for the base axis set by BASE. The base axis
can be changed with the AXIS modifier, as with all the other axis com-
mands and parameters.
This command waits for the response from the axis, The execution of
the command can be slow and variable in time. If you require a quick
response do not use this command.
Arguments • VR
The alarm value is stored on the VR address on successful execu-
tion.
• alarm_number
Optional parameter to set which alarm to read. 0 means the last
alarm (default), 1 means the penultimate alarm, etc. alarm_number
ranges from 0 to 9.
Example IF NOT DRIVE_ALARM(10) AXIS(2)THEN
PRINT "Failed to readalarm for Servo Driver"
ELSE
IF VR(10) = 0THEN
PRINT "ServoDriver healthy"
ELSE
PRINT "Servoalarm code: "; VR(10)
ENDIF
ENDIF
This example reads an alarm of the Servo Driver driving axis 2 and
present that information to the user.
See also N/A
/i
Type Axis command
Syntax DRIVE_CLEAR
Description The DRIVE_CLEAR command clears the alarm status of the Servo
Driver connected via the MECHATROLINK-II bus. This command is not
capable of clearing all the possible alarm states. Some alarms can only
be cancelled by turning off the power supply (both the CJ1W-MCH72
and the Servo Driver), and then turning it on again. Also, an alarm will
not be cleared if the cause of the alarm is still present. The command is
executed on the driver for the base axis set by BASE. The base axis
can be changed with the AXIS modifier, as with all the other axis com-
mands and parameters.
Arguments N/A
Example No example.
See also DRIVE_STATUS.
Section 4-2
139